#include "test_common.h"
#include <tf/transform_listener.h>

// TEST CASES
TEST_F(FourWheelSteeringControllerTest, testForward)
{
	// wait for ROS
	while (!isControllerAlive())
	{
		ros::Duration(0.1).sleep();
	}
	// zero everything before test
	four_wheel_steering_msgs::FourWheelSteering cmd_vel;
	cmd_vel.speed = 0.0;
	cmd_vel.front_steering_angle = 0.0;
	cmd_vel.rear_steering_angle = 0.0;
	publish_4ws(cmd_vel);
	ros::Duration(0.1).sleep();
	// get initial odom
	nav_msgs::Odometry old_odom = getLastOdom();
	// send a velocity command of 0.1 m/s
	cmd_vel.speed = 0.1;
	publish_4ws(cmd_vel);
	// wait for Xs
	double travel_time = 5.0;
	ros::Duration(travel_time).sleep();

	nav_msgs::Odometry new_odom = getLastOdom();

	// check if the robot traveled 1 meter in XY plane, changes in z should be ~~0
	const double dx = new_odom.pose.pose.position.x - old_odom.pose.pose.position.x;
	const double dy = new_odom.pose.pose.position.y - old_odom.pose.pose.position.y;
	const double dz = new_odom.pose.pose.position.z - old_odom.pose.pose.position.z;
	EXPECT_NEAR(sqrt(dx*dx + dy*dy), cmd_vel.speed*travel_time, POSITION_TOLERANCE);
	EXPECT_LT(fabs(dz), EPS);

	// convert to rpy and test that way
	double roll_old, pitch_old, yaw_old;
	double roll_new, pitch_new, yaw_new;
	tf::Matrix3x3(tfQuatFromGeomQuat(old_odom.pose.pose.orientation)).getRPY(roll_old, pitch_old, yaw_old);
	tf::Matrix3x3(tfQuatFromGeomQuat(new_odom.pose.pose.orientation)).getRPY(roll_new, pitch_new, yaw_new);
	EXPECT_LT(fabs(roll_new - roll_old), EPS);
	EXPECT_LT(fabs(pitch_new - pitch_old), EPS);
	EXPECT_LT(fabs(yaw_new - yaw_old), EPS);
	EXPECT_NEAR(fabs(new_odom.twist.twist.linear.x), cmd_vel.speed, EPS);
	EXPECT_LT(fabs(new_odom.twist.twist.linear.y), EPS);
	EXPECT_LT(fabs(new_odom.twist.twist.linear.z), EPS);

	EXPECT_LT(fabs(new_odom.twist.twist.angular.x), EPS);
	EXPECT_LT(fabs(new_odom.twist.twist.angular.y), EPS);
	EXPECT_LT(fabs(new_odom.twist.twist.angular.z), EPS);
}

TEST_F(FourWheelSteeringControllerTest, testCrab)
{
	// wait for ROS
	while (!isControllerAlive())
	{
		ros::Duration(0.1).sleep();
	}
	// zero everything before test
	four_wheel_steering_msgs::FourWheelSteering cmd_vel;
	cmd_vel.speed = 0.0;
	cmd_vel.front_steering_angle = 0.0;
	cmd_vel.rear_steering_angle = 0.0;
	publish_4ws(cmd_vel);
	ros::Duration(0.1).sleep();
	// get initial odom
	nav_msgs::Odometry old_odom = getLastOdom();
	// send a velocityand steering command
	cmd_vel.speed = 0.2;
	cmd_vel.front_steering_angle = M_PI / 8.0;
	cmd_vel.rear_steering_angle = cmd_vel.front_steering_angle;
	publish_4ws(cmd_vel);
	// wait for Xs
	double travel_time = 5.0;
	ros::Duration(travel_time).sleep();

	nav_msgs::Odometry new_odom = getLastOdom();

	// check if the robot traveled 5 meter in XY plane, changes in z should be ~~0
	const double dx = new_odom.pose.pose.position.x - old_odom.pose.pose.position.x;
	const double dy = new_odom.pose.pose.position.y - old_odom.pose.pose.position.y;
	const double dz = new_odom.pose.pose.position.z - old_odom.pose.pose.position.z;
	EXPECT_NEAR(sqrt(dx*dx + dy*dy), cmd_vel.speed*travel_time, POSITION_TOLERANCE);
	EXPECT_NEAR(dx, cmd_vel.speed*travel_time*cos(cmd_vel.front_steering_angle), POSITION_TOLERANCE);
	EXPECT_NEAR(dy, cmd_vel.speed*travel_time*sin(cmd_vel.front_steering_angle), POSITION_TOLERANCE);
	EXPECT_LT(fabs(dz), EPS);

	// convert to rpy and test that way
	double roll_old, pitch_old, yaw_old;
	double roll_new, pitch_new, yaw_new;
	tf::Matrix3x3(tfQuatFromGeomQuat(old_odom.pose.pose.orientation)).getRPY(roll_old, pitch_old, yaw_old);
	tf::Matrix3x3(tfQuatFromGeomQuat(new_odom.pose.pose.orientation)).getRPY(roll_new, pitch_new, yaw_new);
	EXPECT_LT(fabs(roll_new - roll_old), EPS);
	EXPECT_LT(fabs(pitch_new - pitch_old), EPS);
	EXPECT_LT(fabs(yaw_new - yaw_old), EPS);
	EXPECT_NEAR(fabs(new_odom.twist.twist.linear.x), cmd_vel.speed*cos(cmd_vel.front_steering_angle), EPS);
	EXPECT_NEAR(fabs(new_odom.twist.twist.linear.y), cmd_vel.speed*sin(cmd_vel.front_steering_angle), EPS);
	EXPECT_LT(fabs(new_odom.twist.twist.linear.z), EPS);

	EXPECT_LT(fabs(new_odom.twist.twist.angular.x), EPS);
	EXPECT_LT(fabs(new_odom.twist.twist.angular.y), EPS);
	EXPECT_LT(fabs(new_odom.twist.twist.angular.z), EPS);
}

TEST_F(FourWheelSteeringControllerTest, testSymmetricTurn)
{
	// wait for ROS
	while (!isControllerAlive())
	{
		ros::Duration(0.1).sleep();
	}
	// zero everything before test
	four_wheel_steering_msgs::FourWheelSteering cmd_vel;
	cmd_vel.speed = 0.0;
	cmd_vel.front_steering_angle = 0.0;
	cmd_vel.rear_steering_angle = 0.0;
	publish_4ws(cmd_vel);
	ros::Duration(0.1).sleep();
	// get initial odom
	nav_msgs::Odometry old_odom = getLastOdom();
	// send a velocity command
	cmd_vel.speed = M_PI / 2.0;
	// send steering for angular speed of M_PI/10.0
	double cmd_angular = M_PI / 10.0;
	/// diff_steering = pi/10 * wheel_base / (pi/2) = tan(front_steering) - tan(rear_steering)
	cmd_vel.front_steering_angle = 0.18776;
	cmd_vel.rear_steering_angle = -0.18776;
	publish_4ws(cmd_vel);
	// wait for 10s to make a half turn
	ros::Duration(10.0).sleep();

	nav_msgs::Odometry new_odom = getLastOdom();

	// check if the robot traveled 20 meter in XY plane, changes in z should be ~~0
	const double dx = new_odom.pose.pose.position.x - old_odom.pose.pose.position.x;
	const double dy = new_odom.pose.pose.position.y - old_odom.pose.pose.position.y;
	const double dz = new_odom.pose.pose.position.z - old_odom.pose.pose.position.z;
	EXPECT_NEAR(sqrt(dx*dx + dy*dy), fabs(2 * cmd_vel.speed / (cmd_angular)), POSITION_TOLERANCE);
	EXPECT_LT(fabs(dz), EPS);

	// convert to rpy and test that way
	double roll_old, pitch_old, yaw_old;
	double roll_new, pitch_new, yaw_new;
	tf::Matrix3x3(tfQuatFromGeomQuat(old_odom.pose.pose.orientation)).getRPY(roll_old, pitch_old, yaw_old);
	tf::Matrix3x3(tfQuatFromGeomQuat(new_odom.pose.pose.orientation)).getRPY(roll_new, pitch_new, yaw_new);
	EXPECT_LT(fabs(roll_new - roll_old), EPS);
	EXPECT_LT(fabs(pitch_new - pitch_old), EPS);
	EXPECT_NEAR(fabs(yaw_new - yaw_old), M_PI, ORIENTATION_TOLERANCE);

	EXPECT_NEAR(fabs(new_odom.twist.twist.linear.x), cmd_vel.speed, EPS);
	EXPECT_LT(fabs(new_odom.twist.twist.linear.y), EPS);
	EXPECT_LT(fabs(new_odom.twist.twist.linear.z), EPS);

	EXPECT_LT(fabs(new_odom.twist.twist.angular.x), EPS);
	EXPECT_LT(fabs(new_odom.twist.twist.angular.y), EPS);
	EXPECT_NEAR(new_odom.twist.twist.angular.z, cmd_angular, EPS);
}

TEST_F(FourWheelSteeringControllerTest, testNonSymmetricTurn)
{
	// wait for ROS
	while (!isControllerAlive())
	{
		ros::Duration(0.1).sleep();
	}
	// zero everything before test
	four_wheel_steering_msgs::FourWheelSteering cmd_vel;
	cmd_vel.speed = 0.0;
	cmd_vel.front_steering_angle = 0.0;
	cmd_vel.rear_steering_angle = 0.0;
	publish_4ws(cmd_vel);
	ros::Duration(0.1).sleep();
	// get initial odom
	nav_msgs::Odometry old_odom = getLastOdom();
	// send a velocity command
	cmd_vel.speed = M_PI / 2.0;
	// send steering for angular speed
	double cmd_angular = -M_PI / 10.0;
	/// wheel_base = 1.9
	/// diff_steering = pi/10 * wheel_base / (pi/2) = tan(front_steering) - tan(rear_steering)
	cmd_vel.front_steering_angle = -0.21655;
	cmd_vel.rear_steering_angle = 0.15866;
	publish_4ws(cmd_vel);
	// wait for 10s to make a half turn
	ros::Duration(10.0).sleep();

	nav_msgs::Odometry new_odom = getLastOdom();

	// check if the robot traveled 20 meter in XY plane, changes in z should be ~~0
	const double dx = new_odom.pose.pose.position.x - old_odom.pose.pose.position.x;
	const double dy = new_odom.pose.pose.position.y - old_odom.pose.pose.position.y;
	const double dz = new_odom.pose.pose.position.z - old_odom.pose.pose.position.z;
	EXPECT_NEAR(sqrt(dx*dx + dy*dy), fabs(2 * cmd_vel.speed / (cmd_angular)), POSITION_TOLERANCE);
	EXPECT_LT(fabs(dz), EPS);

	// convert to rpy and test that way
	double roll_old, pitch_old, yaw_old;
	double roll_new, pitch_new, yaw_new;
	tf::Matrix3x3(tfQuatFromGeomQuat(old_odom.pose.pose.orientation)).getRPY(roll_old, pitch_old, yaw_old);
	tf::Matrix3x3(tfQuatFromGeomQuat(new_odom.pose.pose.orientation)).getRPY(roll_new, pitch_new, yaw_new);
	EXPECT_LT(fabs(roll_new - roll_old), EPS);
	EXPECT_LT(fabs(pitch_new - pitch_old), EPS);
	EXPECT_NEAR(fabs(yaw_new - yaw_old), M_PI, ORIENTATION_TOLERANCE);

	EXPECT_NEAR(sqrt(pow(new_odom.twist.twist.linear.x, 2) + pow(new_odom.twist.twist.linear.y, 2)),
		fabs(cmd_vel.speed), EPS);
	EXPECT_LT(fabs(new_odom.twist.twist.linear.z), EPS);

	EXPECT_LT(fabs(new_odom.twist.twist.angular.x), EPS);
	EXPECT_LT(fabs(new_odom.twist.twist.angular.y), EPS);
	EXPECT_NEAR(new_odom.twist.twist.angular.z, cmd_angular, EPS);
}

TEST_F(FourWheelSteeringControllerTest, testOdomFrame)
{
	// wait for ROS
	while (!isControllerAlive())
	{
		ros::Duration(0.1).sleep();
	}
	// set up tf listener
	tf::TransformListener listener;
	ros::Duration(2.0).sleep();
	// check the odom frame exist
	EXPECT_TRUE(listener.frameExists("odom"));
}

int main(int argc, char** argv)
{
	printf("----------- Main 4ws cmd test -------------\n");
	testing::InitGoogleTest(&argc, argv);
	ros::init(argc, argv, "four_wheel_steering_4ws_cmd_test");

	ros::AsyncSpinner spinner(1);
	spinner.start();
	//ros::Duration(0.5).sleep();
	int ret = RUN_ALL_TESTS();
	spinner.stop();
	ros::shutdown();
	return ret;
}
